#include "modules/CtrlModule/PassivePlanner/BrushWindedPlanner.h"
#include "lib/Time.h"

namespace  behavior_controller
{
    BrushWindedPlanner brush_winded_planner;
    void BrushWindedPlanner::run(double &linear_vel, double &angular_vel)
    {
        if(time_now<1e-4)
            time_now=Time::Now();
        if(Time::Now()-time_now<5)    
        {
            linear_vel=0;
            angular_vel=0;
            //原地等待，发出警报和语音

        }
        else
        {
            finished=true;
            time_now=0;
        }
    }
}